Abstract
In this paper we develop a tendon-driven robotic hand. This hand is composed of a three DOF thumb robot and a four DOF forefinger robot. The thumb robot is controlled with four tendons. The forefinger robot is controlled with four active and two passive tendons, which are useful to realize biomechanical features of human forefinger. The DIP and PIP joints of the forefinger robot are realized interlocked motion in non-contact tasks, and move independently in contact tasks. This paper shows the basic kinematics of the proposed tendon-driven mechanisms and designs prototype models.
